mirror of https://github.com/ArduPilot/ardupilot
178 lines
4.8 KiB
Plaintext
178 lines
4.8 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_barometer(bool full_calibration)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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if (full_calibration) {
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barometer.calibrate();
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}else{
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barometer.update_calibration();
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}
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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// return barometric altitude in centimeters
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static void read_barometer(void)
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{
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barometer.read();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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baro_alt = barometer.get_altitude() * 100.0f;
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baro_climbrate = barometer.get_climb_rate() * 100.0f;
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// run glitch protection and update AP_Notify if home has been initialised
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baro_glitch.check_alt();
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bool report_baro_glitch = (baro_glitch.glitching() && !ap.usb_connected && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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if (AP_Notify::flags.baro_glitching != report_baro_glitch) {
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if (baro_glitch.glitching()) {
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Log_Write_Error(ERROR_SUBSYSTEM_BARO, ERROR_CODE_BARO_GLITCH);
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} else {
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Log_Write_Error(ERROR_SUBSYSTEM_BARO, ERROR_CODE_ERROR_RESOLVED);
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}
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AP_Notify::flags.baro_glitching = report_baro_glitch;
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}
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}
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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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sonar.init();
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}
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#endif
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// return sonar altitude in centimeters
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static int16_t read_sonar(void)
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{
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#if CONFIG_SONAR == ENABLED
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sonar.update();
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// exit immediately if sonar is disabled
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if (!sonar_enabled || !sonar.healthy()) {
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sonar_alt_health = 0;
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return 0;
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}
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int16_t temp_alt = sonar.distance_cm();
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if (temp_alt >= sonar.min_distance_cm() &&
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temp_alt <= sonar.max_distance_cm() * SONAR_RELIABLE_DISTANCE_PCT) {
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if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
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sonar_alt_health++;
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}
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}else{
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sonar_alt_health = 0;
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}
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#if SONAR_TILT_CORRECTION == 1
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// correct alt for angle of the sonar
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float temp = ahrs.cos_pitch() * ahrs.cos_roll();
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temp = max(temp, 0.707f);
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temp_alt = (float)temp_alt * temp;
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#endif
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return temp_alt;
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#else
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return 0;
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#endif
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}
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// initialise compass
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static void init_compass()
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{
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if (!compass.init() || !compass.read()) {
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// make sure we don't pass a broken compass to DCM
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cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
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return;
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}
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ahrs.set_compass(&compass);
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}
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// initialise optical flow sensor
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static void init_optflow()
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{
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#if OPTFLOW == ENABLED
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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// initialise sensor and display error on failure
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optflow.init();
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if (!optflow.healthy()) {
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cliSerial->print_P(PSTR("Failed to Init OptFlow\n"));
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Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
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}
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#endif // OPTFLOW == ENABLED
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}
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// called at 100hz but data from sensor only arrives at 20 Hz
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#if OPTFLOW == ENABLED
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static void update_optflow(void)
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{
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static uint32_t last_of_update = 0;
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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// read from sensor
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optflow.update();
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// write to log if new data has arrived
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if (optflow.last_update() != last_of_update) {
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last_of_update = optflow.last_update();
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if (should_log(MASK_LOG_OPTFLOW)) {
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Log_Write_Optflow();
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}
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}
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}
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#endif // OPTFLOW == ENABLED
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// read_battery - check battery voltage and current and invoke failsafe if necessary
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// called at 10hz
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static void read_battery(void)
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{
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battery.read();
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// update compass with current value
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if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) {
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compass.set_current(battery.current_amps());
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}
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// check for low voltage or current if the low voltage check hasn't already been triggered
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// we only check when we're not powered by USB to avoid false alarms during bench tests
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if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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failsafe_battery_event();
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}
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// log battery info to the dataflash
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if (should_log(MASK_LOG_CURRENT)) {
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Log_Write_Current();
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}
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}
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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void read_receiver_rssi(void)
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{
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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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#if EPM_ENABLED == ENABLED
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// epm update - moves epm pwm output back to neutral after grab or release is completed
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void epm_update()
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{
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epm.update();
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}
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#endif
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